version: 66.06
glider: 146
mission: 9
dive: 15
start: 3 14 114 8 53 23
data:
$ID,146
$MISSION,9
$DIVE,15
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$D_ABORT,650
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,200
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0276999
$MASS,52418
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2245
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-323416.81
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3075
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,2210
$C_ROLL_CLIMB,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,56
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3060
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.187134
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,10
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043272944
$SEABIRD_T_H,0.00062241661
$SEABIRD_T_I,2.3207038e-05
$SEABIRD_T_J,2.4640995e-06
$SEABIRD_C_G,-9.7986097
$SEABIRD_C_H,1.0845124
$SEABIRD_C_I,-0.0017415414
$SEABIRD_C_J,0.00021607026
$GPS1,084636,2240.228,-15806.248,28,1.4,28,10.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.27
$_SM_ANGLEo,-70.1
$GPS2,085230,2240.258,-15806.314,13,1.7,30,10.0
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.118,0.231
$KALMAN_X,-9236.5,-166.9,-13.9,-8903.9,-1209.9
$KALMAN_Y,4090.5,-625.5,183.0,-20361.6,216.7
$MHEAD_RNG_PITCHd_Wd,17.0,44907,-17.5,-10.000
$D_GRID,600
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.27,-146.0,0.0,0.0,0,112,0.00,0.00,-91.40,0.000,6,0.000,0.000,473,2239,3655,0,0,0,0,0,0
$GC,115,-1.27,-146.0,3.8,-9.0,12,133,11.90,2.47,0.00,0.000,4,0.133,0.031,2789,3778,3655,0,0,0,0,0,0
$GC,177,-1.27,-146.0,23.1,-13.6,20,186,0.00,2.50,0.00,0.000,6,0.000,0.025,2789,2220,3655,0,0,0,0,0,0
$GC,464,-1.27,-146.0,52.2,-10.9,50,468,0.00,2.60,0.00,0.000,4,0.000,0.046,2790,631,3656,0,0,0,0,0,0
$GC,510,-1.27,-146.0,57.4,-10.7,53,515,0.00,2.42,0.00,0.000,6,0.000,0.018,2789,2203,3656,0,0,0,0,0,0
$GC,777,-1.27,-146.0,85.2,-9.6,77,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2203,3657,0,0,0,0,0,0
$GC,1039,-1.33,-146.0,108.9,-7.9,102,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2203,3658,0,0,0,0,0,0
$GC,1293,-1.40,-146.0,130.5,-7.8,126,1298,0.00,2.58,0.00,0.000,4,0.000,0.045,2789,629,3658,0,0,0,0,0,0
$GC,1323,-1.47,-146.0,133.0,-7.7,128,1328,0.15,2.42,0.00,0.000,6,0.063,0.021,2738,2197,3658,0,0,0,0,0,0
$GC,1588,-1.47,-146.0,157.2,-9.0,152,1593,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2197,3658,0,0,0,0,0,0
$GC,1850,-1.47,-146.0,182.3,-9.6,177,1855,0.00,2.55,0.00,0.000,4,0.000,0.045,2739,3778,3659,0,0,0,0,0,0
$GC,1919,-1.47,-146.0,189.8,-10.0,182,1925,0.00,2.47,0.00,0.000,6,0.000,0.021,2738,2197,3659,0,0,0,0,0,0
$GC,2194,-1.47,-146.0,217.4,-10.0,197,2199,0.00,2.55,0.00,0.000,4,0.000,0.049,2738,641,3658,0,0,0,0,0,0
$GC,2252,-1.47,-146.0,223.4,-11.1,198,2257,0.00,2.42,0.00,0.000,6,0.000,0.026,2738,2197,3659,0,0,0,0,0,0
$GC,2518,-1.47,-146.0,247.9,-8.8,205,2523,0.00,2.58,0.00,0.000,4,0.000,0.050,2738,641,3658,0,0,0,0,0,0
$GC,2534,-1.47,-146.0,249.2,-8.2,205,2538,0.00,2.42,0.00,0.000,6,0.000,0.022,2738,2199,3659,0,0,0,0,0,0
$GC,2797,-1.51,-146.0,270.2,-8.0,212,2802,0.00,2.60,0.00,0.000,4,0.000,0.048,2738,3783,3658,0,0,0,0,0,0
$GC,2819,-1.55,-146.0,272.4,-9.0,212,2823,0.00,2.53,0.00,0.000,6,0.000,0.031,2738,2187,3658,0,0,0,0,0,0
$GC,3074,-1.59,-146.0,294.1,-8.3,219,3079,0.00,2.60,0.00,0.000,4,0.000,0.048,2738,3771,3658,0,0,0,0,0,0
$GC,3161,-1.66,-146.0,301.5,-9.1,221,3166,0.12,2.50,0.00,0.000,6,0.071,0.028,2694,2208,3658,0,0,0,0,0,0
$GC,3444,-1.66,-146.0,330.1,-10.1,228,3448,0.00,2.60,0.00,0.000,4,0.000,0.054,2694,3770,3656,0,0,0,0,0,0
$GC,3477,-1.66,-146.0,333.5,-10.3,228,3483,0.00,2.53,0.00,0.000,6,0.000,0.032,2694,2196,3656,0,0,0,0,0,0
$GC,3727,-1.66,-146.0,357.2,-9.3,235,3732,0.00,2.75,0.00,0.000,4,0.000,0.078,2694,626,3654,0,0,0,0,0,0
$GC,3811,-1.66,-146.0,365.6,-10.0,237,3815,0.00,2.50,0.00,0.000,6,0.000,0.038,2694,2176,3654,0,0,0,0,0,0
$GC,4095,-1.66,-146.0,391.0,-8.9,244,4100,0.00,2.67,0.00,0.000,4,0.000,0.069,2694,624,3653,0,0,0,0,0,0
$GC,4117,-1.66,-146.0,393.3,-9.7,244,4121,0.00,2.55,0.00,0.000,6,0.000,0.044,2694,2194,3652,0,0,0,0,0,0
$GC,4372,-1.66,-146.0,417.1,-9.2,251,4376,0.00,2.67,0.00,0.000,4,0.000,0.065,2694,3797,3651,0,0,0,0,0,0
$GC,4400,-1.66,-146.0,419.8,-9.4,251,4404,0.00,2.65,0.00,0.000,6,0.000,0.040,2694,2185,3651,0,0,0,0,0,0
$GC,4649,-1.66,-146.0,441.7,-8.7,257,4651,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2185,3649,0,0,0,0,0,0
$GC,4893,-1.66,-146.0,462.7,-8.7,263,4898,0.00,2.75,0.00,0.000,4,0.000,0.068,2694,3792,3647,0,0,0,0,0,0
$GC,4910,-1.66,-146.0,464.2,-9.0,263,4915,0.00,2.65,0.00,0.000,6,0.000,0.044,2694,2188,3647,0,0,0,0,0,0
$GC,5171,-1.66,-146.0,488.4,-9.3,270,5172,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2188,3645,0,0,0,0,0,0
$GC,5414,-1.66,-146.0,512.5,-10.0,276,5419,0.00,2.80,0.00,0.000,4,0.000,0.076,2694,3796,3644,0,0,0,0,0,0
$GC,5486,-1.66,-146.0,519.8,-10.4,277,5490,0.00,2.72,0.00,0.000,6,0.000,0.059,2693,2199,3643,0,0,0,0,0,0
$GC,5737,-1.66,-146.0,541.0,-8.2,283,5742,0.00,2.80,0.00,0.000,4,0.000,0.082,2694,3789,3642,0,0,0,0,0,0
$GC,5787,-1.66,-146.0,545.2,-8.8,284,5791,0.00,2.70,0.00,0.000,6,0.000,0.062,2694,2209,3642,0,0,0,0,0,0
$GC,6060,-1.66,-146.0,564.5,-6.9,291,6065,0.00,3.03,0.00,0.000,4,0.000,0.120,2694,620,3640,0,0,0,0,0,0
$GC,6081,-1.66,-146.0,566.4,-8.0,291,6086,0.00,2.75,0.00,0.000,6,0.000,0.064,2694,2208,3640,0,0,0,0,0,0
$GC,6336,-1.66,-146.0,586.7,-8.2,298,6341,0.00,2.88,0.00,0.000,4,0.000,0.106,2694,3794,3638,0,0,0,0,0,0
$GC,6370,-1.66,-146.0,589.9,-9.8,298,6376,0.00,2.78,0.00,0.000,6,0.000,0.072,2694,2205,3638,0,0,0,0,0,0
$STATE,6497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6497,begin apogee
$GC,6503,-0.31,0.0,601.6,9.2,302,6624,1.40,0.00,116.85,1.030,6,0.078,0.000,3008,2380,3060,0,0,0,0,0,0
$STATE,6625,end apogee,CONTROL_FINISHED_OK
$STATE,6625,begin climb
$GC,6627,1.27,146.0,605.9,0.0,305,6762,1.45,2.88,123.53,0.999,4,0.034,0.092,3358,3930,2463,0,0,0,0,0,0
$GC,6784,0.97,146.0,596.1,14.7,309,6790,0.35,2.83,0.00,0.000,6,0.111,0.071,3288,2364,2459,0,0,0,0,0,0
$GC,7066,0.83,146.0,562.8,11.8,316,7071,0.15,2.83,0.00,0.000,4,0.136,0.081,3259,3931,2454,0,0,0,0,0,0
$GC,7107,0.72,146.0,557.8,12.2,317,7112,0.12,2.72,0.00,0.000,6,0.132,0.058,3235,2371,2453,0,0,0,0,0,0
$GC,7391,0.73,151.5,529.8,9.7,324,7396,0.00,0.00,4.00,0.614,6,0.000,0.000,3235,2371,2442,0,0,0,0,0,0
$GC,7635,0.74,166.2,506.8,9.3,330,7654,0.00,0.00,14.55,0.907,6,0.000,0.000,3235,2371,2382,0,0,0,0,0,0
$GC,7922,0.78,193.1,481.6,8.8,337,7953,0.00,2.75,25.10,0.930,4,0.000,0.064,3235,3935,2271,0,0,0,0,0,0
$GC,7992,0.78,193.1,475.1,10.3,338,7996,0.00,2.65,0.00,0.000,6,0.000,0.044,3235,2368,2269,0,0,0,0,0,0
$GC,8243,0.83,238.5,454.8,7.9,344,8290,0.00,3.03,40.30,0.930,4,0.000,0.103,3235,777,2086,0,0,0,0,0,0
$GC,8306,0.86,262.1,449.1,8.9,345,8336,0.12,2.72,22.17,0.885,6,0.086,0.044,3266,2383,1990,0,0,0,0,0,0
$GC,8612,0.83,262.1,412.9,12.4,353,8613,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,2383,1984,0,0,0,0,0,0
$GC,8852,0.83,262.1,384.3,11.6,359,8857,0.00,2.83,0.00,0.000,4,0.000,0.071,3266,771,1983,0,0,0,0,0,0
$GC,8874,0.78,262.1,381.6,11.8,359,8878,0.00,2.62,0.00,0.000,6,0.000,0.033,3265,2383,1981,0,0,0,0,0,0
$GC,9130,0.78,262.1,352.6,11.1,366,9134,0.00,2.80,0.00,0.000,4,0.000,0.065,3266,775,1981,0,0,0,0,0,0
$GC,9163,0.73,262.1,348.5,11.3,366,9169,0.15,2.58,0.00,0.000,6,0.128,0.035,3237,2361,1980,0,0,0,0,0,0
$GC,9412,0.74,270.4,324.3,9.6,373,9421,0.00,0.00,7.05,0.720,6,0.000,0.000,3237,2361,1957,0,0,0,0,0,0
$GC,9658,0.79,270.4,297.5,11.2,379,9662,0.00,2.62,0.00,0.000,4,0.000,0.052,3237,3926,1956,0,0,0,0,0,0
$GC,9702,0.83,270.4,291.8,12.5,380,9706,0.00,2.53,0.00,0.000,6,0.000,0.028,3237,2353,1954,0,0,0,0,0,0
$GC,9979,0.88,270.4,260.5,11.3,387,9981,0.12,0.00,0.00,0.000,6,0.084,0.000,3269,2353,1955,0,0,0,0,0,0
$GC,10224,0.88,270.4,232.0,11.6,393,10228,0.00,2.62,0.00,0.000,4,0.000,0.047,3269,3927,1955,0,0,0,0,0,0
$GC,10250,0.88,270.4,228.4,12.9,393,10255,0.00,2.50,0.00,0.000,6,0.000,0.027,3269,2374,1954,0,0,0,0,0,0
$GC,10500,0.88,270.4,200.6,10.9,399,10505,0.00,2.65,0.00,0.000,4,0.000,0.051,3269,782,1954,0,0,0,0,0,0
$GC,10545,0.88,270.4,195.3,12.3,400,10551,0.00,2.53,0.00,0.000,6,0.000,0.031,3269,2369,1954,0,0,0,0,0,0
$GC,10807,0.88,270.4,166.0,10.9,425,10812,0.00,2.55,0.00,0.000,4,0.000,0.044,3269,3926,1954,0,0,0,0,0,0
$GC,10858,0.88,270.4,160.1,10.9,429,10863,0.00,2.47,0.00,0.000,6,0.000,0.025,3269,2357,1953,0,0,0,0,0,0
$GC,11126,0.88,270.4,133.4,10.7,453,11131,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2357,1953,0,0,0,0,0,0
$GC,11390,0.92,270.6,106.7,10.0,478,11395,0.00,2.58,0.00,0.000,4,0.000,0.042,3269,3928,1953,0,0,0,0,0,0
$GC,11436,0.97,270.6,102.1,11.0,481,11440,0.00,2.47,0.00,0.000,6,0.000,0.025,3269,2364,1954,0,0,0,0,0,0
$GC,11706,1.04,277.4,75.5,9.7,505,11716,0.12,0.00,7.55,0.521,6,0.081,0.000,3307,2365,1929,0,0,0,0,0,0
$GC,11975,1.04,277.4,46.3,11.7,530,11979,0.00,2.55,0.00,0.000,4,0.000,0.043,3307,782,1929,0,0,0,0,0,0
$GC,11995,1.04,277.4,43.8,11.3,531,11999,0.00,2.50,0.00,0.000,6,0.000,0.021,3307,2384,1928,0,0,0,0,0,0
$GC,12290,1.04,277.4,12.1,13.1,566,12299,0.00,2.50,0.00,0.000,4,0.000,0.042,3307,3912,1929,0,0,0,0,0,0
$GC,12317,1.04,277.4,8.4,13.5,569,12326,0.00,2.45,0.00,0.000,6,0.000,0.024,3307,2375,1929,0,0,0,0,0,0
$STATE,12348,end climb,SURFACE_DEPTH_REACHED
$STATE,12348,begin surface coast
$FINISH,-0.3,1.010710
$STATE,12384,end surface coast,CONTROL_FINISHED_OK
$STATE,12384,begin surface
$SM_CCo,12407,99.35,0.529,0,0,1429,400.08
$SM_GC,0.35,0.00,0.00,99.35,0.000,0.000,0.529,469,2125,1429,-11.99,-2.37,400.08
$IRIDIUM_FIX,2232.34,-15804.11,080603,060652
$TT8_MAMPS,0.026078
$HUMID,59.09
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.20
$XPDR_PINGS,27
$24V_AH,23.3,2.570
$10V_AH,10.4,2.240
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,27.775,158.325,361.100,99.350,0.000,24.649,36.038,152.424,6.750,0.000,31.986,1191.371,8474.327,566.275,2116.713,515.540,33.341,1370.156,0.000,2106.582,0.000,0.534,0.000
$DEVICE_MAMPS,135.759,120.419,1030.081,529.230,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,392.473,335.324,423.243,623.683,1188.840,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,44580,578
$CAP_FILE_SIZE,125332,0
$CFSIZE,260165632,179187712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140314,122306,2242.038,-15806.689,35,1.2,35,10.0